Optical fiducial generation for galvanometric scanner calibration

ABSTRACT

An apparatus includes an optical source situated to produce a fiducial source beam, and an optical fiducial pattern generator situated to produce with the fiducial source beam at least one transient optical fiducial on a laser processing target that is in a field of view of a laser scanner situated to scan a laser processing beam across the laser processing target, so that a positioning of the laser processing beam on the laser processing target becomes adjustable relative to the at least one transient optical fiducial.

CROSS REFERENCE TO RELATED APPLICATION

This application is a continuation of and claims priority benefit of U.S. patent application Ser. No. 15/945,550, filed Apr. 4, 2018, which claims the benefit of U.S. Provisional Patent Application No. 62/481,637, filed Apr. 4, 2017, all which are incorporated by reference herein in their entirety.

FIELD

The field pertains to scanner fiducials and laser processing.

BACKGROUND

In 3D or 2D laser scanner manufacturing or processing application, scanners are typically calibrated for X,Y position according to some external established reference. Most often, a calibration material is situated at the work surface and is marked, then inspected by an on-board or off-line vision system to collect error data. The error data is the spatial difference between a reference and actual laser-marked location throughout the scanner field of view.

In additive manufacturing 3D metal printing applications, the laser process poses challenges as to how to provide the reference information throughout the field of view, which can be substantial, such as many cm². A traditional scanning application may provide fiducials on the process substrate or a specially prepared calibration medium that is placed onto the work plane for calibration and that is subsequently removed. Because in 3D Select Laser Sintering (SLS) processes, a finely controlled metal particle layer covers the work plane, fiducial generation is typically not possible or impractical. While the support platen could be made with fiducials for calibration, once a build process begins, in situ drift monitoring becomes difficult due to the print material covering the platen.

SUMMARY

According to an aspect of the disclosed technology, apparatus include an optical source situated to produce a fiducial source beam, and an optical fiducial pattern generator situated to produce with the fiducial source beam at least one transient optical fiducial on a laser processing target that is in a field of view of a laser scanner situated to scan a laser processing beam across the laser processing target, so that a positioning of the laser processing beam on the laser processing target becomes adjustable relative to the at least one transient optical fiducial.

In some embodiments, the laser processing target includes a powder material situated to diffusely reflect the at least one transient optical fiducial, such as with a selective laser sintering target. With some examples, the powder material forms a first layer that is selectively processed with the laser processing beam and additional powder material is deposited to form one or more subsequent layers, wherein the at least one transient optical fiducial is produced at the first layer and at least one of the one or more subsequent layers to provide an in-situ calibration of the scanning of the laser processing beam.

Some apparatus examples also include an optical detector optically coupled to the laser processing target through the laser scanner to a subfield field of view of the field of view based on a scan position of one or more scan optics of the laser scanner, wherein the optical detector is situated to detect the at least one transient optical fiducial in the subfield. According to some examples, the laser scanner is configured to direct the laser processing beam to a predetermined position in the subfield field of view for different scan positions of the one or more scan optics. In different examples, the optical detector includes one or more cameras, photodiodes, CMOS detectors, CCD detectors, arrays, or combinations. In some embodiments, the optical detector is situated to detect the at least one transient optical fiducial while the laser processing beam is unpowered or at a non-processing power.

In some examples, a controller is coupled to the optical detector and the laser scanner and configured to compare the detected position of the at least one transient optical fiducial to a position of the laser processing beam, to update a scan error correction table based on the comparison, and to scan the laser processing beam according to the updated scan error correction table. Representative apparatus can include one or both of the laser scanner and a laser processing beam source situated to generate the laser processing beam and to direct the laser processing beam to the laser scanner.

In some embodiments, the at least one transient optical fiducial is shaped as annulus and the adjustment of the positioning of the laser processing beam relative to the at least one transient optical fiducial is based on a detection of the annulus. The at least one transient optical fiducial can have a wavelength that is spaced apart from a wavelength of the laser processing beam in some examples.

Some examples of the fiducial pattern generator include a diffractive optical element situated to diffract the fiducial source beam into a diffracted beam to produce the at least one transient optical fiducial. With some diffractive optical element examples, the at least one transient optical fiducial can correspond to a plurality of the transient optical fiducials that are spaced apart in a predetermined fiducial pattern in the field of view of the laser scanner. In further examples, the laser scanner can be situated to direct the laser processing beam to different subfields of the field of view that are associated with the positions of the respective transient optical fiducials produced with the diffractive optical element. Some embodiments can further include an optical detector situated to detect a zero-order portion of the diffracted beam that is reflected by the laser processing target or a surface adjacent to the laser processing target.

In some embodiments, the optical source and optical fiducial pattern generator have a spatial separation from the laser scanner and a laser processing beam source situated to generate the laser processing beam that thermally isolates the optical source and optical fiducial pattern generator from the laser scanner and laser processing beam source that reduces a position error of the at least one transient optical fiducial at the laser processing target.

In selected examples, the fiducial pattern generator includes a spatial light modulator situated to modulate the fiducial source beam to produce a modulated beam so that the at least one transient optical fiducial is dynamically positionable across the laser processing target. Spatial light modulators can include one or more of a digital micro-mirror device, liquid crystal on silicon device, acousto-optic beam deflector, and electro-optic beam deflector, by way of example. In representative modulated beam examples, the at least one transient optical fiducial is dynamically positionable as the laser processing beam is scanned across the laser processing target so that a scan position of the laser processing beam can follow the dynamic position of the at least one transient optical fiducial.

According to another aspect of the disclosed technology, systems include a fiducial calibrator situated to produce at least one transient optical fiducial, at least one processor, and one or more computer-readable storage media including stored instructions that, responsive to execution by the at least one processor, cause the system to adjust a positioning of a laser processing beam relative to the at least one transient optical fiducial detected at a laser processing target that is in a field of view of a laser scanner situated to scan the laser processing beam across the laser processing target.

In some system examples, the at least one transient optical fiducial includes a plurality of transient optical fiducials produced with a diffractive optical element of the fiducial calibrator and directed from the diffractive optical element to the laser processing target along paths that are not common with the laser scanner, wherein causing the system to adjust the positioning corresponds to a beam scanning calibration that includes comparing a detected position of the at least one transient optical fiducial to a position of the laser processing beam, updating a scan error correction table based on the comparison, and controlling the laser scanner to scan the laser processing beam based on values in the updated scan error correction table. In further system examples, the at least one transient optical fiducial includes a dynamically positionable optical fiducial in the field of view of the laser scanner that is directed along an optical path separate from the laser scanner, wherein causing the system to adjust the positioning includes directing the dynamically positionable optical fiducial according to a predetermined laser processing pattern, detecting the dynamically positionable optical fiducial with an optical detector optically coupled through the field of view of the laser scanner, and following the dynamically positionable optical fiducial with the laser processing beam based on the detection.

According to another aspect of the disclosed technology, methods include producing a fiducial source beam with an optical source, and forming at least one transient optical fiducial on a laser processing target that is in a field of view of a laser scanner situated to scan a laser processing beam across the laser processing target, with an optical fiducial pattern generator that receives the fiducial source beam, to adjust a positioning of the laser processing beam relative to the at least one transient optical fiducial.

Some method examples further include detecting the at least one transient optical fiducial with an optical detector optically coupled to the laser processing target through the laser scanner, determining a position difference between the at least one transient optical fiducial and the laser processing beam, and adjusting the positioning of the laser processing beam with the laser scanner in the field of view by reducing the position difference. According to some method examples, the forming the at least one transient optical fiducial includes diffracting the fiducial source beam with a diffractive optical element to produce a plurality of the transient optical fiducial beamlets, and directing the transient optical fiducial beamlets to the laser processing target as a a precalibrated array of the transient optical fiducials that are in the field of view of the laser scanner. Additional method examples include detecting the at least one transient optical fiducial with an optical detector optically coupled to the laser processing target through the laser scanner, wherein the forming the at least one transient optical fiducial includes varying a position of the at least one transient optical fiducial on the laser processing target during processing of the target with the laser processing beam, wherein the determining a position difference and adjusting the positioning of the laser processing beam includes following the variable position of the at least one transient optical fiducial with the laser processing beam based on the detection of the at least one transient optical fiducial with the optical detector.

The foregoing and other features and advantages of the disclosed technology will become more apparent from the following detailed description, which proceeds with reference to the accompanying figures.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a plan view of a camera image of a selective laser sintering target.

FIG. 2 is a schematic of an example selective laser sintering system that includes a diffractive optical element that generates fiducial markers at a work surface.

FIG. 3 is another schematic of a selective laser sintering system example.

FIG. 4 is a flowchart of an example method of fiducial calibration and dynamic tracking.

FIG. 5 is a plan view of an example laser processing target.

FIG. 6 is a schematic of a laser system example.

FIG. 7 is a schematic of another laser system example.

FIG. 8 is a flowchart of an example calibration method with optical fiducials.

DESCRIPTION

As used in this application and in the claims, the singular forms “a,” “an,” and “the” include the plural forms unless the context clearly dictates otherwise. Additionally, the term “includes” means “comprises.” Further, the term “coupled” does not exclude the presence of intermediate elements between the coupled items.

The systems, apparatus, and methods described herein should not be construed as limiting in any way. Instead, the present disclosure is directed toward all novel and non-obvious features and aspects of the various disclosed embodiments, alone and in various combinations and sub-combinations with one another. The disclosed systems, methods, and apparatus are not limited to any specific aspect or feature or combinations thereof, nor do the disclosed systems, methods, and apparatus require that any one or more specific advantages be present or problems be solved. Any theories of operation are to facilitate explanation, but the disclosed systems, methods, and apparatus are not limited to such theories of operation.

Although the operations of some of the disclosed methods are described in a particular, sequential order for convenient presentation, it should be understood that this manner of description encompasses rearrangement, unless a particular ordering is required by specific language set forth below. For example, operations described sequentially may in some cases be rearranged or performed concurrently. Moreover, for the sake of simplicity, the attached figures may not show the various ways in which the disclosed systems, methods, and apparatus can be used in conjunction with other systems, methods, and apparatus. Additionally, the description sometimes uses terms like “produce” and “provide” to describe the disclosed methods. These terms are high-level abstractions of the actual operations that are performed. The actual operations that correspond to these terms will vary depending on the particular implementation and are readily discernible by one of ordinary skill in the art.

In some examples, values, procedures, or apparatus are referred to as “lowest”, “best”, “minimum,” or the like. It will be appreciated that such descriptions are intended to indicate that a selection among many used functional alternatives can be made, and such selections need not be better, smaller, or otherwise preferable to other selections.

In FIGS. 1 and 2, systems and methods are disclosed that provide fiducial projection within a 3D or 2D scanner based processing tool. A low power laser source provides a laser beam 200 that is directed through a single or multi element diffractive optical element (DOE) 202 which splits the single beam into a plurality of beams 204 a-204 f forming a 2-dimensional grid of beams (e.g., 10-100) that are directed to a work plane of material 206. In the case of SLS, the work plane of material 206 can be a layer of metal powder which also serves to scatter the light from the DOE, such as diffusely into a partially or substantially Lambertian distribution 208. The corresponding array of beams or laser projection points can be viewed from many angles, including through a field of view of a laser scanner 210 situated to direct an SLS processing laser beam to the work plane of material 206. Because DOE fabrication is generally a mature, high-precision process, and because the projection platform of an SLS system can be fabricated to satisfy high flatness requirements, the grid of projection points from the DOE 202 can be positionally well known in relation to the laser scanner 210, the SLS processing laser beam, and other components of the SLS system, including the work plane of material 206. In some examples, a camera system 212 is configured within or is optically coupled through the laser scanner so as to image the work plane of material 206 wherever the laser scanner 210 is commanded within the laser scanner field of view. The camera system 212 can form an image 100 of the local target area directly through the scanning optics of the laser scanner 210. The image 100 contains the illumination fiducial 102 generated by the diffractive optical element 202 and lower power laser source. When the SLS processing laser beam is turned on at low power so as not to damage the SLS powder material, the camera system 212 can then have both the spots 104 of the SLS laser processing beam and the DOE fiducial laser spots 102 in view. The spatial separation between the spots 102, 104 can then be determined and the position of the laser processing beam can be adjusted based on the determined error so as to calibrate the SLS system.

In one example, a two dimensional DOE is situated to split a single beam into a two-dimensional grid of beams each with equal angular spacing. A low power single mode laser beam that can have same or similar wavelength as the SLS processing beam is directed to illuminate the DOE. The DOE can be situated outside of the SLS processing chamber in which the work plane of material is situated, removing the DOE as the reference source from the high temperature conditions that can be associated with the SLS process and that could lead to distorting the reference source.

FIG. 3 shows another example of a laser system 300 that includes a laser scanner 302 situated to direct a laser processing beam 304 generated by a laser processing beam source 306 to a target 308, such as a selective laser melting target. A calibration laser beam source 310 generates a laser beam 312 suitable for fiducial generation through a diffractive optical element 314. The diffractive optical element receives the laser beam 312 and generates a plurality of beamlets 316 a-316 i that are directed through focusing optics 318 to form an array of fiducial spots 320 a-320 i, which can be non-permanent, at the target 308. In some examples, the focusing optics 318 provide a suitable depth of focus for the plurality of beamlets 316 a-316 i so that an out of tolerance z-direction focus variation for the laser processing beam 304 can be detected by a camera 324. Beam shaping optics 322 can be situated to receive the laser processing beam 304 and adjust beam characteristics associated with the laser process (such as SLS) or associated with calibration. One or more of the illuminated non-permanent fiducial spots 320 a-320 i can be viewed by the camera 324 through the laser scanner 302 and with a beam splitting element 326 that can be situated to receive a cross-section of the laser processing beam 304, a portion of the cross-section, or adjacent to the cross-section. The camera 324 can also view a laser processing beam spot 328, and an image can show whether a positional error exists between the fiducial beamlet location 320 f, which can correspond to an expected location of (or expected offset from) the laser processing beam spot, and the actual location 328 of the laser processing beam spot in the field of view. Representative examples optically couple the fiducial beamlets 316 a-316 i to the target 308 separate from the laser scanner 320 and associated optics 322 so as to thermally isolate the generation of the fiducial reference beamlets 316 a-316 i from other components of the system. In further examples, the fiducial beamlets 316 a-316 i can be coupled through focusing optics of the laser scanner 302.

In some examples, detection and calibration of the position of the laser processing beam 304 relative to the position of the fiducial beamlets 316 a-316 i can be performed during active operation of the laser processing beam 304 at the target 308. A controller 330 typically includes a processor 332, memory 334, and one or more calibration routines 336 or algorithms that can adjust a scanning signal coupled to the laser scanner 302 based on the positional error detected with the camera 324. Various field corrections can be provided including variable corrections across the laser scanner field of view (including in a Z-direction in some examples). For example, error correction tables can be revised and polynomial or other fitting functions that describe the variation of the laser processing beam across the field of view can be updated. Suitable controller types can include one or more computer devices, computing units, CPLDs, PLCs, PLDs, PALs, ASICs, etc., with each typically including one or more of the processors 332 and one or more of the memories 334 for controlling the laser processing beam source 306, camera 324, laser scanner 302, and calibration laser beam source 310. The memory 334 can include volatile memory, such as registers, cache, and RAM, non-volatile memory, such as ROM, EEPROM, and flash memory, or a combination. The memory 334 is accessible by the processor 332 and can store software in the form computer-executable instructions that can be executed by the processor 332, such as the calibration routines 336. The memory 334 can also include removable or non-removable storage including magnetic media, CD-ROMS, DVDs, or any other medium that can be used to store information in a non-transitory way and which can be accessed within the computing environment of the controller 330. In some examples, the controller 330 can be distributed between different components, such as between the calibration laser beam source and the laser scanner 302, and in some examples communication is not required between all components. For example, the calibration laser beam source 310 and diffractive optical element 314 can be configured as a separate fiducial calibration device that can be used for different laser systems to provide calibrating optical fiducials for different laser processing targets. In some examples, a zero positional difference for calibration purposes can correspond to a predetermined positional difference between the laser processing beam spot 328 the fiducial spots 320 a-320 i as detected by the camera 324.

FIG. 4 is an example of a dynamic laser processing method 400. At 402, a time-dependent fiducial pattern is loaded into memory of a controller so that the controller can command movement of an optical fiducial, such as with a spatial light modulator that is configured to modulate an incident beam based on the fiducial pattern, across a laser processing target. At 404, a fiducial trace is begun corresponding to the time-dependent fiducial pattern that is applied to a laser processing target. In some examples, the fiducial trace on the laser processing target can correspond to a processed target pattern of a powder layer in a selective laser sintering or other additive manufacturing process. Fiducial trace characteristics can include speed and direction as well as other time-dependent characteristics, such as variation in a fiducial shape or intensity. At 406, an optical detector, such as a camera, photodiode, CMOS, CCD, array, etc., detects the fiducial of the fiducial trace and any associated fiducial characteristics through a laser scanner of a laser system situated to laser process the laser processing target. In some examples, a modulation rate of a fiducial optical intensity or a selected fiducial shape can be associated with an initiation of or change to a predetermined optical power or beam characteristic (including beam shape) of the laser processing beam. At 408, a determination of whether the fiducial is present is made, and if it is not, the process can end at 410. At 412, the laser processing beam is directed to the fiducial location with the laser scanner. At 414, the detected position of the fiducial can be compared with the commanded laser processing beam position. If a position difference exists, at 416, the position difference, corresponding to a scan error associated with a misalignment or a dynamic tracking error associated with following the optical fiducial, can be reduced by adjusting the commanded position of the laser processing beam. In some examples, a scan error correction table can be updated based on the adjustment to the commanded position of the laser processing beam. At 418, the laser processing beam is commanded to follow the moving optical fiducial with the laser processing beam by returning, e.g., by again detecting the fiducial through the laser scanner at 406. The laser processing beam can be scanned to the newly detected position from the previous position of the laser processing beam and detected optical fiducial. In some examples, the fiducial trace can correspond to a welding seam, and the laser processing beam dynamically tracks the fiducial trace to form the seam based on detection of the fiducial through the laser scanner field of view.

FIG. 5 shows scanning field of view 500 for a high power laser system, such as for additive manufacturing processes, including selective laser sintering. In typical examples, the field of view 500 is defined by a scan reach of a laser scanner situated to receive and scan a laser processing beam that is generated with a laser source (such as a fiber laser) across a laser processing target 502. The laser scanner typically includes one or more scan mirrors, so that for a camera coupled to an optical path of the laser processing beam between the one or more scan mirrors and the laser source, a subfield field of view 504 can be defined. In the subfield field of view 504, the laser processing beam forms a laser spot 506 at the laser processing target 502 in a predetermined position in the subfield field of view 504 relative to coordinate axes 508 a, 508 b. As shown, the laser spot 506 is offset from a central position of the subfield of view 504 corresponding to the intersection of the coordinate axes 508 a, 508 b, though more typically the laser system and laser scanner are precalibrated such that laser spot 506 is directed to the central intersection position of the coordinate axes 508 a, 508 b.

In selected scan positions of laser scanner, subfield field of views 510 a-510 d similar to the subfield field of view 504 can be oriented in the scanner field of view at different positions relative to the laser processing target 502. Based on an initial alignment between the laser source and laser scanner, the laser processing beam can form respective laser spots 512 a-512 d that generally have a common position in the respective subfield field of views 510 a-510 d at the respective positions. During integration of the laser source and laser scanner with the laser processing target 502 and associated target build plate 514, the reference frame of the laser scanner is aligned and mapped to the laser processing target 502 and build plate 514, such as in relation to a global coordinate system with a defined origin 516. Such an initial calibration can be performed in various ways, including aligning laser scanner positions based on permanent fiducial marks on the build plate 514, with a calibration glass plate and coordinate measurement machine, or with other techniques, including those disclosed herein. For example, a plurality of optical fiducials 518 a-518 d can be transiently formed on the laser processing target 502 in accurate predetermined locations relative to the global coordinate system and origin 516, and the laser scanner and laser source can be adjusted such that the laser spots 512 a-512 d become aligned with the transient optical fiducials 518 a-518 d. The transient optical fiducials 518 a-518 d can have various shapes, such as spots, lines, grids, cross-hairs, and annulus, though the annular shape shown in FIG. 5 is generally associated with a more rapid and/or accurate detection by an optical detector.

During the life of the laser processing system (i.e., that includes the laser source and laser scanner), or even during laser processing of one of the laser processing targets 502, displacement errors can develop between the positions of the laser spots 512 a-512 d and the transient optical fiducials 518 a-518 d and across the field of view of the laser scanner, resulting in imprecisely processed targets. In representative examples, the transient optical fiducials 518 a-518 d are detected through the laser scanner subfield field of views 510 a-510 d and the displacement errors are determined and corrected so that the laser processing target 502 can be accurately processed with the laser processing beam. In typical examples, in-situ adjustments of the laser scanner scanning command table can be performed between layers of material to be laser processed to preserve laser scanning accuracies of better than 100 μm, 10 μm, or even 1 μm. In some examples, the transient optical fiducials 518 a-518 d can correspond to a diffraction pattern generated with a diffractive optical element, such as a diffractive beam splitter having a predetermined pattern on a transmissive layer of material. In typical examples, the placement of the transient optical fiducials 510 a-510 d can have a robustness of accuracy during or between laser processing based on a spatial separation and thermal isolation of the fiducial generator with respect to the laser scanner. In some examples, the spatial separation can include an air separation, an adjoining boundary with the laser scanner or other components, or a thermal isolation provided with insulating material, a cooling system, etc.

In some examples, perpendicular alignments of the build plate 514, laser processing target, and the field of view 500 relative to a zero-order axis of the fiducial generator, can allow generation of a zero-order diffraction fiducial 520 that can be spaced apart from a center axis 522 of the laser scanner. In selected examples, the zero-order diffraction fiducial 520 is outside of the field of view 500. To maintain an internal accuracy of the fiducial generator, the zero-order diffraction fiducial 520 can be detected and a shift or intensity variation can correspond to an out-of-tolerance condition.

In FIG. 6, a laser system 600 includes a laser source 602 situated to generate a laser processing beam 604. The laser processing beam 604 is typically a high power continuous, quasi-continuous, or pulsed beam. In some examples, the laser source 602 includes a gain medium 606, such as an actively doped optical fiber amplifier, fiber oscillator, or fiber oscillator-amplifier combination, solid state block, or a plurality of semiconductor laser sources (e.g., single-emitter laser diodes, laser diode bars, etc.). In a representative embodiment, the gain medium 606 is an active fiber that is coupled to a seed source 608, such as a diode laser or fiber oscillator, and to a pump source 610, such as one or more fiber-coupled laser diode modules or fiber laser sources. A power supply 612 is coupled to the pump source 610 and seed source 608 (if present) to provide an electrical power source. The gain medium 606 can be coupled to a delivery fiber 614 that delivers to a predetermined location the laser processing beam 604 is emitted and propagates along an optical axis 615 that can correspond to a chief ray of the laser processing beam 604. One or more beam shaping optics, such as a collimation optic 616. The laser processing beam 604 is directed to a 2D or 3D galvanometric laser scanner 618 that typically includes one or more galvanometer scan mirrors 620 a, 620 b that are situated to rotate about respective scan mirror rotation axes 622 a, 622 b to change direction of the laser processing beam 604 as incident on a laser scan optic 624. The laser scan optic 624 or one or more other optics of the laser scanner 618 can be translated along the axis 615 to provide a z-focus adjustment. The laser processing beam 604 is then directed to a selected position on a laser processing target 626 based on a deflection of the optical axis 615 with the galvanometer scan mirrors 620 a, 620 b, and z-position with the other optics of the laser scanner 618. In representative examples, a focus in the z-direction is typically more tolerant of errors than XY positions because a depth of focus provided by the laser scanner 618 is typically many tens of microns. Thus, after an initial calibration, there is typically a reduced need for periodic z-calibration.

The laser scanner 618 is generally configured to rotate the scan mirrors 620 a, 620 b so that the laser processing beam 604 can be directed to a predetermined area corresponding to a field of view 628, or regard, of the laser scanner 618. To selectively provide the laser processing beam 604 at different locations in the field of view 628, the laser scanner 618 and the laser source 602 are coupled to a laser controller 630. The laser controller 630 typically includes at least one processor 632 and one or more memories 634 configured with instructions, such as a pattern command file 636, executable by the at least one processor 632 to control beam initiation, termination, power level, repetition rate, modulation, and/or other characteristics of the laser processing beam 604 as received by the target 626 and to control beam scan position in the field of view 628. During an initial calibration, the scan positions in the field of view 628, corresponding to the reference frame of the laser source 602, are mapped to the area of the target 626 so that the intended beam positions associated with the pattern command file 636 can correspond to actual beam positions on the target 626 within a predetermined lateral tolerance and/or z-tolerance (i.e., including into or out of the plane of the target 626). The mapping typically includes the generation of an error table 637 that can include scalar correction values that provide correspondence between the field of view 628 and a global coordinate system defined for the target 626.

During laser processing of the target 626 with the laser processing beam 604, manipulation of the target 626 (e.g., loading, layering, removal, moving, etc.), extended use, change in environment conditionals, optical and/or mechanical degradation, routine maintenance, etc., the scanning tolerances associated with the initial calibration can deteriorate such that the commanded scan positions are not sufficiently accurate with respect to the target 626. A fiducial calibrator 638 can be situated in a predetermined spatial and directional relationship with respect to the target 626. The fiducial calibrator 638 can include a calibration laser source 640 situated to generate a fiducial source beam 642. The fiducial source beam 642 is typically a low power beam that can be of relatively high quality (e.g., M²≤5, M²≤2, M²≤1.2, etc.), and typically at a wavelength offset from a wavelength of the laser processing beam 604. In some examples, the fiducial source beam 642 can have a same or similar wavelength as the laser processing beam 604.

In typical examples, the fiducial source beam 642 is directed as a collimated beam along an optical axis 644 to a fiducial pattern generator 646, such as a diffractive optical element. The fiducial pattern generator 646 diffracts the fiducial source beam 642 into a plurality of fiducial beamlets 648 a-648 e that form respective optical fiducials 650 a-650 e that are generally transient and that have a predetermined positional relationship with the target 626. In representative examples, the target 626 includes a powder material, such as a material suitable for selective laser sintering or another additive manufacturing process, that is non-specular so as to provide a range of reflections (such as with a Lambertian or partially Lambertian profile) for incident light. The optical fiducials 650 a-650 d can be formed on this material and provide a corresponding a range of reflections, such as that shown by the different arrows directed away from the optical fiducial 650 a. In general, the non-specular reflections are diffusive enough to provide sufficient scatter across the angle subtended between the fiducial pattern generator 646 (or other related coupling optic) and the laser scan optic 624.

A reflected fiducial portion 652 of the reflections of the optical fiducial 650 a can be coupled through the laser scan optic 624 and reflect off the scan mirrors 620 a, 620 b. A beam splitter 654 or other suitable wavelength-dependent beam-directing optic can be situated in the path of the laser processing beam 604 to receive and direct the reflected fiducial portion 652 (e.g., through reflection, refraction, transmission, a combination, etc.) to an optical detector 656, such as a camera, one or more photodiodes, CCDs, CMOS sensors, arrays, etc. In representative examples, the optical detector 656 has a movable field of view 658 that is defined by the optical path between the optical detector 656 and the target 626, including the scan position and mirror areas of the scan mirrors 620 a, 620 b. In typical embodiments, the field of view 658 of the optical detector 656 is optically aligned with respect to the propagation axis 615 such that a center of the field of view 658 corresponds to the position of the spot of the laser processing beam 604 at the target 626 during processing, though other alignments are possible. The controller 630 can be coupled to the fiducial calibrator 638 and the optical detector 656 to cause the fiducial calibrator 638 to generate the optical fiducials 650 a-650 d and to receive a detection signal from the optical detector 656. The received detection signal can correspond to detected optical characteristics of the optical fiducial 650 a with the field of view 658 positioned in view of optical fiducial 650 a, or detected optical characteristics of the optical fiducials 650 b-650 d with the scan mirrors 620 a, 620 b moved so that the field of view 658 moves to be in view of the respective optical fiducials 650 b-650 d. In representative embodiments, the fiducial calibrator 638 is sufficiently thermally separated from the laser scanner 618 and laser source 602 to reduce a position error of the optical fiducials 650 a-650 d at the target 626, e.g., through spatial separation and/or thermal cooling of the fiducial calibrator.

In some examples of the laser system 600, the target 626 can include a build plate base 662 that is lowered with a z-stage 664 with a z-stage control 666 of the controller 630. A layer of powder material is provided above the build plate base 662 and a pushing bar 668 can be used to flatten the surface of the powder material and remove excess material so that the top of the powder layer corresponds with a predetermined plane for a focus of the laser processing beam 604 at the target 626. After processing of a particular powder layer with the laser processing beam 604 (such as according to a selective laser sintering process), the build plate base 662 can lower with the z-stage 664 and an additional layer of powder can be deposited and flattened so that the additional layer can be processed with the laser processing beam 604. In some embodiments, the z-stage 664 can also provide x, y, or xy translation, or can include a conveyor system that translates the target 626. In representative examples, a calibration routine 660 can be performed with the controller 630 at a manually selected time, or during one or more automatically selected times or intervals, including at a start or end of a process, during laser processing with the laser processing beam 604, or between laser processes or processing steps, such as between processing of layers of powder material. In some examples, the calibration routine 660 can include a fiducial command 670 that includes causing the fiducial calibrator 638 to produce the optical fiducials 650 a-650 d at the target 626. In further examples, the optical fiducials 650 a-650 d can be transiently directed to the target 626 while one or more components of the laser system 300 is powered. During the calibration routine 660, the scan mirrors 620 a, 620 b are directed to predetermined positions associated with the optical fiducials 650 a-650 d, and the optical detector 656 detects the position of the optical fiducials 650 a-650 d in the field of view 658 at each position. Based on the detected positions, a positional error can be determined, and the error correction table 637 can be updated, typically using one or more interpolation/extrapolation techniques, to determine suitable correction values for other scan positions in the field of view 628.

In some embodiments, the fiducial beamlet 648 e generated with the fiducial calibrator 638 can correspond to a zero-order diffraction produced by the fiducial pattern generator 646. The optical fiducial 650 e can be formed on a separate surface 672 adjacent to the target 626, or can be formed on the target 626 in some examples. In some examples, a beam splitter 674 can be situated to direct a portion of a reflected beam 676 that is received from the surface 672 to an optical detector 678, e.g., through a pinhole aperture 680. In some examples, other beam directing optics (or no beam directing optics) that are not situated in the path of the fiducial beamlet 648 e can be used instead of the beam splitter 674. Misalignments or alignment variations between the fiducial calibrator 638 and the surface 672 and target 626 can be detected based on a variation in the detected zero-order reflected beam 676, such as a drift in reflected beam position which can correspond to an angular variation of the surface 672 relative to the fiducial beamlet 648 e. The optical detector 678 can be coupled to the laser controller 630 and a fiducial error detection routine 682 can form an interlock with operation of the laser source 602, can indicate a misalignment exists, or that the fiducial calibrator 638 has accrued a decrease in fiducial accuracy, by way of example.

FIG. 7 is a laser system 700 that is configured for dynamic transient optical fiducial placement and tracking. The laser system 700 includes a laser source 702 situated to produce a laser beam 704, which is typically emitted from a delivery fiber 706. In some examples, the laser beam 704 coupled via free-space, a beam homogenizer, and/or other optics. The laser beam 704 is directed along a propagation axis 705 to a laser scanner 706 that includes a pair of scan mirrors 708 a, 708 b generally rotatable about respective orthogonal axes 710 a, 710 b with galvanometer actuators to change a direction of the received laser beam 704. A focus optic 712 receives the laser beam 704 and focuses the laser beam 704 a laser processing target 714, such as a welding target, cutting target, patterning target, selective laser sintering target, additive manufacturing target, etc. A laser controller 716 is coupled to the laser source 702 and the laser scanner 706 to control beam characteristics of the laser beam 704, such as power, wavelength, repetition rate, spot intensity/divergence profile and/or geometry, etc. The laser controller typically includes at least one processor 718 and at least one memory 720 configured with various instructions and data storage so that the processor 718 in response to the instructions in the memory 720 can cause the laser source 702 to emit the laser beam 704 and cause the laser scanner 706 to vary a scan position so that the laser beam 704 forms a laser spot 722 at the laser processing target 714.

In representative examples, the laser system 700 also includes fiducial calibrator 724 situated to direct an optical fiducial 726 to, and change a fiducial position at, the laser processing target 714. The fiducial calibrator 724 can be situated separately from the laser scanner 706, though the spatial separation can be vary in different examples. For example, the fiducial calibrator 724 can be mechanically attached to the laser scanner 706 or situated in close proximity to the laser scanner 706, though the fiducial calibrator 724 is typically configured with a sufficiently separate spatial distance and/or coupling such that a calibration between the fiducial calibrator 724 and the laser processing target 714 remains unchanged or varies independently from a calibration decrease between the laser scanner 706 and the laser processing target 714. In some examples, the fiducial calibrator 726 includes an optical source 728, such as a laser, LED, etc., situated generate a fiducial source beam 730, and a spatial light modulator 732 situated to receive and spatially modulate the fiducial source beam 730 to selectively provide the optical fiducial 726 in a selective position across a field of regard 734 or a portion of the field of regard 734 that corresponds to a scan reach of laser beam 704 with the laser scanner 706. Suitable examples of the spatial light modulator 732 include a digital micro-mirror device (DMD), liquid crystal on silicon (LCoS) device, acousto-optic modulator, or electro-optic modulator, by way of example. The laser controller 716 is coupled to the fiducial calibrator 724 and configured with a fiducial movement command 736 to change the position of the optical fiducial 726. In some examples, the fiducial movement command 736 and the fiducial calibrator 724 can be coupled to a separate controller that is not in communication with the laser controller 716.

An optical detector 738 is situated to receive a reflected beam portion 740 of the optical fiducial 726. In typical examples, the laser processing target 714 has a surface that does not produce an exclusively specular reflection such that a portion of light reflected by laser processing target 714, corresponding to the reflected beam portion 740, is directed through the laser scan optic 712 and the scan mirrors 708 a, 708 b, to a selective optic 742 that directs the reflected beam portion 740 to the optical detector 738. The optical detector 738 can have a field of view 744 that can be defined in part by the position of the scan mirrors 708 a, 708 b. The optical detector 738 can detect the laser spot 722 and the optical fiducial 726, and the laser controller 716 can receive the detection signal to determine a positional difference between the laser spot 722 and the optical fiducial 726. In some examples, the laser spot 722 is aligned with a predetermined position (e.g., a center) in the field of view 744 and the positional difference is determined based on the predetermined position and the detected position of the optical fiducial 726. The laser controller 716 can be provided with an expected position of the laser spot 722 based on the fiducial movement command 736. In some examples, the laser controller 716 can command the laser scanner 706 through a range of scan positions to detect the optical fiducial 726 in the field of regard 734.

With the fiducial movement command 736 the position of the optical fiducial 726 can be changed to follow a time-dependent processing trace 746 to a different position, forming the displaced optical fiducial 748. The laser controller 716 can include a fiducial tracking command 750 that causes the laser controller 716 to adjust a scan position of the laser spot 722 to a new position that reduces the positional difference between the optical fiducial 726 and the laser spot 722. The adjustment is typically performed in real-time so that the laser spot 722 can follow the time-dependent processing trace 746. In some examples, various closed-loop control methods can be used to provide convergence or substantial reductions in position errors to allow the laser spot 722 to follow the optical fiducial 726 to the new position of the optical fiducial 748, including but not limited to PID, PI, lead-lag, etc. The detected positions of the optical fiducial 726 and later positions of the optical fiducial, such as along the processing trace 746, can be stored in the memory 720 so that the laser beam 704 can be moved to positions after the optical fiducial has moved or is no longer in the field of regard 734 or the field of view 744. The fiducial tracking command 750 can also cause the laser source 702 or associated beam shaping optics to adjust characteristics of the laser spot 722, such as diameter, shape, irradiance, etc., based on changes between the detected optical fiducials 726, 748. By way of example, beam shaping optics can include fiber-based beam shaping, zoom expansion, relative movement of lenses, mirrors, or other optical components that vary a beam characteristic. In some examples, the laser processing target 714 can include a plurality of adjacent subtargets and the time-dependent processing trace 746 can follow along a boundary of the adjacent subtargets.

The fiducial calibrator 724 can also be configured with the laser controller 718 and the optical detector 738 to provide a calibration routine 752 that can provide scan rotation correction values (e.g., rotation increments for the scan mirrors 708 a, 708 b) for scanning of the laser beam 704 across the field of regard 734. For example, the fiducial calibrator 724 can direct optical fiducials to predetermined calibration locations in the field of regard 734, such as to the positions shown for the optical fiducials 726, 748, or other locations. With the laser beam 704 (or laser scanner 706) commanded to the position of the optical fiducials 726, 748, the optical detector 738 can detect a position difference between the respective optical fiducials 726, 748 and a spot of the laser beam 704 or a predetermined position in the field of view 744 of the optical detector 738. The laser controller 716 can include a scan actuator error correction table 754 that can includes scan actuator bit corrections for the scan mirrors 708 a, 708 b so that the laser beam 704 can form the laser spot 722 in locations in the field of regard 734 that accurately correspond to global coordinates of the laser processing target 714. In some examples, the laser scanner 706 can include scanning capability in the z-direction and the error correction table 754 can also include scan actuator bit corrections for the z-direction. The scan actuator error correction table 754 can be updated with error correction values based on the positional differences detected and determined with the calibration routine 752. The detector 738 can detect positional errors, such as a variation in focus based on change in fiducial spot size or blur associated with defocus.

FIG. 8 is a method 800 of calibrating a laser processing target and laser system with a fiducial calibrator. At 802, a plurality of optical fiducials are generated with the fiducial calibrator and directed to a laser processing target, typically along an axis separate from an associated laser scanner situated to scan a laser processing beam of the laser system in relation to the target (e.g., along X, Y, and/or Z directions). In representative examples, the optical fiducials are generally transiently generated such that the surface of the laser processing target is not permanently marked by the optical fiducials or such that the laser processing target need not be permanently marked for calibration and/or detection based on the optical fiducials. At 804, the laser scanner is commanded with a laser controller to direct the laser processing beam at a process power, at a low power, or unpowered to a position in a field of regard of the laser scanner that corresponds to the expected location of a selected one of the plurality of optical fiducials. At 806, the selected one of the optical fiducials is detected in a subfield of the field of regard of the laser scanner with an optical detector (such as a camera) based on the optical coupling to the laser processing target of the optical detector through the laser scanner. At 808, the laser controller compares the detected optical fiducial location with the expected location and determines a position error, such as one or more of an X, Y, and Z position error.

At 810, the laser controller checks if the determined position error is outside of a tolerance condition, such as less than 50 μm, 20 μm, 10 μm, 5 μm, 3 μm, 1 μm, etc. If the position error is out of tolerance, at 812, the controller determines a scan actuation correction for the laser scanner that reduces the error. At 814, an error correction table is updated in the laser controller with the correction that produces the error reduction for the commanded position of the laser scanner and laser processing beam. At 816, a check is performed as to whether the last optical fiducial of the plurality of optical fiducials has been detected and compared, and can also be performed if the check for an error of a selected optical fiducial yield an in-tolerance condition. If there are additional optical fiducials to be checked, at 818, another of the plurality of optical fiducials can be selected and the process steps 804 onward can be performed until all optical fiducials are detected and analyzed. After all optical fiducials are detected and the error correction table is updated with corrections based on the position errors associated with the optical fiducials, additional corrections can be applied for other areas or regions in the field of regard of the laser scanner where optical fiducials were not directed and the error table can be updated with new correction values or new values associated with correction values. In representative examples, the additional corrections for other positions in the field of regard can be determined with linear or curve fitting algorithms based on the corrections associated with the optical fiducials. Suitable methods of correcting scan actuation values include those disclosed in U.S. patent application Ser. No. 15/410,612, entitled “Method of processing calibration data in 3D laser scanner systems,” which is incorporated by reference herein in its entirety. Corrections can be applied across the field of regard of the laser scanner at different nodes (e.g., forming one or more grids of x, y, and/or z coordinates) based on higher order polynomials fit to the corrections or derivatives of such functions. An initial set of corrections can be provided based on a computational model characterizing the laser scanner and optics associated with direct the laser processing beam to the target. Corrections for non-nodal locations can be determined from interpolation between adjacent correction nodes.

Having described and illustrated the principles of the disclosed technology with reference to the illustrated embodiments, it will be recognized that the illustrated embodiments can be modified in arrangement and detail without departing from such principles. For instance, elements of the illustrated embodiments shown in software may be implemented in hardware and vice-versa. Also, the technologies from any example can be combined with the technologies described in any one or more of the other examples. It will be appreciated that procedures and functions such as those described with reference to the illustrated examples can be implemented in a single hardware or software module, or separate modules can be provided. The particular arrangements above are provided for convenient illustration, and other arrangements can be used.

In view of the many possible embodiments to which the principles of the disclosed technology may be applied, it should be recognized that the illustrated embodiments are only representative examples and should not be taken as limiting the scope of the disclosure. Alternatives specifically addressed in these sections are merely exemplary and do not constitute all possible alternatives to the embodiments described herein. For instance, various components of systems described herein may be combined in function and use. We therefore claim all that comes within the scope and spirit of the appended claims. 

We claim:
 1. A system, comprising: a fiducial calibrator situated to produce at least one transient optical fiducial; at least one processor; and one or more computer-readable storage media including stored instructions that, responsive to execution by the at least one processor, cause the system to adjust a positioning of a laser processing beam relative to the at least one transient optical fiducial detected at a laser processing target that is in a field of view of a laser scanner situated to scan the laser processing beam across the laser processing target.
 2. The system of claim 1, wherein the at least one transient optical fiducial includes a plurality of transient optical fiducials produced with a diffractive optical element of the fiducial calibrator and directed from the diffractive optical element to the laser processing target along paths that are not common with the laser scanner; wherein causing the system to adjust the positioning corresponds to a beam scanning calibration that includes comparing a detected position of the at least one transient optical fiducial to a position of the laser processing beam, updating a scan error correction table based on the comparison, and controlling the laser scanner to scan the laser processing beam based on values in the updated scan error correction table.
 3. The system of claim 1, wherein the at least one transient optical fiducial includes a dynamically positionable optical fiducial in the field of view of the laser scanner that is directed along an optical path separate from the laser scanner; wherein causing the system to adjust the positioning includes directing the dynamically positionable optical fiducial according to a predetermined laser processing pattern, detecting the dynamically positionable optical fiducial with an optical detector optically coupled through the field of view of the laser scanner, and following the dynamically positionable optical fiducial with the laser processing beam based on the detection.
 4. A method, comprising: producing a fiducial source beam with an optical source; and forming at least one transient optical fiducial on a laser processing target that is in a field of view of a laser scanner situated to scan a laser processing beam across the laser processing target, with an optical fiducial pattern generator that receives the fiducial source beam, to adjust a positioning of the laser processing beam relative to the at least one transient optical fiducial.
 5. The method of claim 4, further comprising: detecting the at least one transient optical fiducial with an optical detector optically coupled to the laser processing target through the laser scanner; determining a position difference between the at least one transient optical fiducial and the laser processing beam; and adjusting the positioning of the laser processing beam with the laser scanner in the field of view by reducing the position difference.
 6. The method of claim 4, wherein the forming the at least one transient optical fiducial includes: diffracting the fiducial source beam with a diffractive optical element to produce a plurality of the transient optical fiducial beamlets; and directing the transient optical fiducial beamlets to the laser processing target as a a precalibrated array of the transient optical fiducials that are in the field of view of the laser scanner.
 7. The method of claim 5, further comprising detecting the at least one transient optical fiducial with an optical detector optically coupled to the laser processing target through the laser scanner; wherein the forming the at least one transient optical fiducial includes varying a position of the at least one transient optical fiducial on the laser processing target during processing of the target with the laser processing beam; wherein the determining a position difference and adjusting the positioning of the laser processing beam includes following the variable position of the at least one transient optical fiducial with the laser processing beam based on the detection of the at least one transient optical fiducial with the optical detector. 